AMiRo-OS

/'

µRtWare is a lightweight publish/subscribe middleware for real-time

applications. It was developed as part of the software habitat for the

Autonomous Mini Robot [1] (AMiRo) but can be used for other purposes as well.

Copyright (C) 2018..2020  Thomas Schöpping et al.

This program is free software: you can redistribute it and/or modify

it under the terms of the GNU General Public License as published by

the Free Software Foundation, either version 3 of the License, or

(at your option) any later version.

This program is distributed in the hope that it will be useful,

but WITHOUT ANY WARRANTY; without even the implied warranty of

MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

GNU General Public License for more details.

You should have received a copy of the GNU General Public License

along with this program.  If not, see <http://www.gnu.org/licenses/>.

'/

/'### INTRO ##################################################################'/

@startuml

title **µRtWare**\nOperating System Abstraction Layer (OSAL)

!include ./functions.iuml

/'### ENTITIES ###############################################################'/

!startsub ENTITIES

/' OS time type with arbitrary resolution. '/

$type("urt_osTime_t") {

    'Converts an OS time to 64 bit microsecond precise value.

  + {method} urtTime2Us (t : urt_osTime_t*) : uint64_t

    'Retrieves the current time.

  + {method} urtTimeNow (void) : urt_osTime_t

    'Increase a system time object.

  + {method} urtTimeAddUs (time : urt_osTime_t*, offset : uint32_t) : urt_osTime_t*

}

/' OS mutex lock interface. '/

$type("urt_osMutex_t") {

    'Initializes a urt_osMutex_t object.

  + {method} urtMutexInit (mutex : urt_osMutex_t*) : void

    'Block the thread until the mutex could be locked.

  + {method} urtMutexLock (mutex : urt_osMutex_t*) : void

    'Tries to lock the mutex, but does not block but immediately returns an indicator.

  + {method} urtMutexTryLock (mutex : urt_osMutex_t*) : bool

    'Unlocks a previously locked mutex.

  + {method} urtMutexUnlock (mutex : urt_osMutex_t*) : void

}

/' OS condition variable feature. '/

$group("condition variable") {

  /' Return type for the wait function on condition variables. '/

  $enumeration("urt_osCondvarWaitStatus_t") {

      'The condition variable has been signaled.

    URT_CONDVAR_WAITSTATUS_SIGNAL = 1

      'The condition variable has been broadcasted.

    URT_CONDVAR_WAITSTATUS_BROADCAST = 2

      'The wait function timed out.

    URT_CONDVAR_WAITSTATUS_TIMEOUT = 0

  }

  /' Condition variable interface. '/

  $type("urt_osCondvar_t") {

      'Initializes a urt_osCondvar_t object.

    + {method} urtCondvarInit (condvar : urt_osCondvar_t*) : void

      'Signals one thread that is waiting for the condition variable.

    + {method} urtCondvarSignal (condvar : urt_osCondvar_t*) : void

      'Signals all threads that are waiting for the condition variable.

    + {method} urtCondvarBroadcast (condvar : urt_osCondvar_t*) : void

      'Waits for the condition variable.

    + {method} urtCondvarWait (condvar : urt_osCondvar_t*, mutex : urt_osMutex_t*, timeout : urt_delay_t) : urt_osCondvarWaitStatus_t

  }

}

/' OS timer feature. '/

$group("timer") {

  /' Timer callback definition. '/

  $type("urt_osTimerCallback_t") {

    urt_osTimerCallback_t (parameter : void*) : void

  }

  /' OS timer interface. '/

  $type("urt_osTimer_t") {

      'Initializes an urt_osTimer_t object.

    + {method} urtTimerInit (timer : urt_osTimer_t*) : void

      'Sets the timer to a specified delay with specified callback and arguments.

    + {method} urtTimerSet (timer : urt_osTimer_t*, delay : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t

      'Sets the timer to a specified period with specified callback and arguments.

    + {method} urtTimerSetPeriodic (timer : urt_osTimer_t*, period : urt_delay_t, callback : urt_osTimerCallback_t*, parameter : void*) : urt_status_t

      'Resets the timer.

    + {method} urtTimerReset (timer : urt_osTimer_t*) : urt_status_t

      'Check whether the timer is already armed.

    + {method} urtTimerIsArmed (timer : urt_osTimer_t*) : bool

  }

} /'condition variable'/

/' OS thread feature. '/

$group("thread") {

  /' Thread priority type. '/

  $type("urt_osThreadPrio_t") {

      'Minimum priority for low priority threads.

    URT_THREAD_PRIO_LOW_MIN

      'Maximum priority for low priority threads.

    URT_THREAD_PRIO_LOW_MAX

      'Minimum priority for normal priority threads.

    URT_THREAD_PRIO_NORMAL_MIN

      'Maximum priority for normal priority threads.

    URT_THREAD_PRIO_NORMAL_MAX

      'Minimum priority for high priority threads.

    URT_THREAD_PRIO_HIGH_MIN

      'Maximum priority for high priority threads.

    URT_THREAD_PRIO_HIGH_MAX

      'Minimum priority for real-time threads.

    URT_THREAD_PRIO_RT_MIN

      'Maximum priority for real-time threads.

    URT_THREAD_PRIO_RT_MAX

  }

  /' Thread main function type. '/

  $type("urt_osThreadFunction_t") {

    urt_osThreadFunction_t (arg : void*) : void

  }

  /' Thread terminate signals. '/

  $enumeration("urt_osThreadTerminateSignal_t") {

      'Signal to request termination asap.

    URT_THREAD_TERMINATE_REQUEST = 15

      'Signal to kill a thread immediately.

    URT_THREAD_TERMINATE_KILL = 9

  }

  /' Thread execution states. '/

  $enumeration("urt_osThreadState_t") {

      'Thread has not been started yet.

    URT_THREAD_STATE_INACTIVE = 0

      'Thread is currently being executed.

    URT_THREAD_STATE_RUNNING = 1

      'Thread is ready but waiting to be scheduled.

    URT_THREAD_STATE_READY = 2

      'Thread is actively sleeping.

    URT_THREAD_STATE_SLEEPING = 3

      'Thread has ben suspended explicitely.

    URT_THREAD_STATE_SUSPENDED = 4

      'Thread is waiting for something (e.g. Mutex, event, etc.).

    URT_THREAD_STATE_WAITING = 5

      'Thread has terminated.

    URT_THREAD_STATE_TERMINATED = 6

  }

  /' OS thread interface. '/

  $type("urt_osThread_t") {

     'Maximum sleep interval in seconds (as float).

    URT_THREAD_SLEEP_MAX : float

      'Maximum sleep interval in seconds.

    URT_THREAD_SSLEP_MAX : urt_delay_t

      'Maximum sleep interval in milliseconds.

    URT_THREAD_MSLEEP_MAX : urt_delay_t

      'Maximum sleep interval in microseconds.

    URT_THREAD_USLEEP_MAX : urt_delay_t

    --

      'Macro to setup working area as static variable (handles alignment if required).

    + {method} URT_THREAD_MEMORY (varname, stacksize)

    ..

      'Initializes an urt_osThread_t object.

    + {method} urtThreadInit (memory : void*, size : size_t, func : urt_osThreadFunction_t*) : urt_osThread_t*

      'Starts a thread.

    + {method} urtThreadStart (thread : urt_osThread_t*, prio : urt_osThreadPrio_t, arg : void*) : void

      'The calling threads yields.

    + {method} urtThreadYield (void) : void

      'Retrieves the priority of the calling thread.

    + {method} urtThreadGetPriority (void) : urt_osThreadPrio_t

      'Sets the priority of the calling thread.

    + {method} urtThreadSetPriority (prio : urt_osThreadPrio_t) : void

      'Suspends a thread so it will no longer be executed.

    + {method} urtThreadSuspend (thread : urt_osThread_t*) : void

      'Wakes a suspended thread.

    + {method} urtThreadResume (thread : urt_osThread_t*) : urt_status_t

      'Suspends the calling thread for the specified time.

    + {method} urtThreadSleep (seconds : float) : void

      'Suspends the calling thread for the specified time.

    + {method} urtThreadSSleep (seconds : urt_delay_t) : void

      'Suspends the calling thread for the specified time.

    + {method} urtThreadMSleep (milliseconds : urt_delay_t) : void

      'Suspends the calling thread for the specified time.

    + {method} urtThreadUSleep (microseconds : urt_delay_t) : void

      'Suspends the calling thread until the specified time.

    + {method} urtThreadSleepUntil (time : urt_osTime_t) : void

      'The calling thread exits execution (terminates).

    + {method} urtThreadExit (void) : void

      'Terminates a specified thread.

    + {method} urtThreadTerminate (thread : urt_osThread_t*, sig : urt_osThreadTerminateSignal_t) : void

      'Waits until the specified thread terminates.

    + {method} urtThreadJoin (thread : urt_osThread_t*) : void

      'Retrieves the execution state of the specified thread.

    + {method} urtThreadGetState (thread : urt_osThread_t*) : urt_osThreadState_t

      'Retrieves the calling thread itself.

    + {method} urtThreadGetSelf (void) : urt_osThread_t*

      'Retrieves the first child of a thread or ""NULL"".

    + urtThreadGetChildren (thread : urt_osThread_t*) : urt_osThread_t*

      'Retrieves a sibling (next child in a list) of the thread or ""NULL"".

    + urtThreadGetSibling (thread : urt_osThread_t*) : urt_osThread_t*

      'Retrieves the parent thread.

    + urtThreadGetParent (thread : urt_osThread_t*) : urt_osThread_t*

  }

} /'thread'/

/' OS event feature. '/

$group("events") {

  /' OS event mask type. '/

  $type("urt_osEventMask_t") {

      'The event mask, which will be handled with maximum priority by the event system.

    URT_EVENTMASK_MAXPRIO : urt_osEventMask_t

  }

  /' OS event flag type. '/

  $type("urt_osEventFlags_t") {

  }

  /' OS event wait type. '/

  $enumeration("urt_osEventWait_t") {

      'Wait for exactly one event.

    URT_EVENT_WAIT_ONE = 0

      'Wait for at least one event.

    URT_EVENT_WAIT_ANY = 1

      'Wait for all events.

    URT_EVENT_WAIT_ALL = 2

  }

  /' OS event listener interface. '/

  $type("urt_osEventListener_t") {

      'Initializes an urt_osEventListener_t object.

    + {method} urtEventListenerInit (listener : urt_osEventListener_t*) : void

      'Retrieves the flags of the event listener.

    + {method} urtEventListenerGetFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

      'Retrieves and clears the flags of the event listener.

    + {method} urtEventListenerClearFlags (listener : urt_osEventListener_t*) : urt_osEventFlags_t

  }

  /' OS event source interface. '/

  $type("urt_osEventSource_t") {

      'Initializes an urt_osEventSource_t object.

    + {method} urtEventSourceInit (source : urt_osEventSource_t*) : void

      'Emits an event.

    + {method} urtEventSourceBroadcast (source : urt_osEventSource_t*, flags : urt_osEventFlags_t) : void

  }

  /' Not a class/type but a set of static event-related functions. '/

  $function("urt_events") {

      'Registers a lister to a source.

    + {method} urtEventRegister (source : urt_osEventSource_t*, listener : urt_osEventListener_t*, mask : urt_osEventMask_t, flags : urt_osEventFlags_t) : urt_status_t

      'Unregisters a listener from a source.

    + {method} urtEventUnregister (source _ urt_osEventSource_t*, listener : urt_osEventListener_t*) : urt_status_t

      'Blocks the thread until any event occurs or the timeout expires.

    + {method} urtEventWait (mask : urt_osEventMask_t, type : urt_osEventWait_t, timeout : urt_delay_t) : urt_osEventMask_t

  }

} /'events'/

/' Not a class/type but a set of output-related functions. '/

$function("urt_streams") {

    'Prints a formatted string to the standard output stream (stdout).

  + {method} urtPrintf(fmt : char*, ... ) : int

    'Prints a formatted string to the standard error stream (stderr).

  + {method} urtErrPrintf(fmt : char*, ... ) : int

}

!endsub

/'### DEPENDENCIES & LAYOUT ##################################################'/

!startsub DEPENDENCIES

urt_osCondvar_t ..> urt_osCondvarWaitStatus_t

urt_osCondvar_t .> urt_osMutex_t

urt_osTimer_t ..> urt_osTimerCallback_t

urt_osThread_t ..> urt_osThreadPrio_t

urt_osThread_t ..> urt_osThreadFunction_t

urt_osThread_t ..> urt_osThreadTerminateSignal_t

urt_osThread_t ..> urt_osThreadState_t

urt_osThread_t .> urt_osTime_t

urt_osEventListener_t ..> urt_osEventFlags_t

urt_osEventSource_t ..> urt_osEventFlags_t

urt_events ..> urt_osEventSource_t

urt_events ..> urt_osEventListener_t

urt_events ..> urt_osEventMask_t

urt_events ..> urt_osEventFlags_t

urt_events ..> urt_osEventWait_t

!endsub

/'### OUTRO ##################################################################'/

@enduml